
include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "gyro_link",--"base_link",
  published_frame = "laser" ,-- "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = false,
  publish_frame_projected_to_2d = false,
  use_pose_extrapolator = false,
  publish_tracked_pose = true,
  use_odometry = false,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true

TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.occupied_space_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 1.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 1.


TRAJECTORY_BUILDER_2D.min_range = 0.1
TRAJECTORY_BUILDER_2D.max_range = 25. --定位模式下可以下调此参数 使用更准确的数据且降低计算量
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 1.
TRAJECTORY_BUILDER_2D.use_imu_data = false
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 40 
POSE_GRAPH.optimization_problem.huber_scale = 1e1
POSE_GRAPH.optimize_every_n_nodes = 20 --越小优化的频率快 相对的性能消耗越大
POSE_GRAPH.global_sampling_ratio = 0.003 --回环检测的频率 （特别消耗性能资源）
POSE_GRAPH.constraint_builder.min_score = 0.6
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65

TRAJECTORY_BUILDER.pure_localization_trimmer.max_submaps_to_keep = 3 --定位模式下维护的最大submap数量
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 2 --每两秒向submap中添加一个关键帧
TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.2 --
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(3.)
TRAJECTORY_BUILDER_2D.submaps.grid_options_2d.resolution = 0.05 
  








return options
